USING THE SYMBOLIC COMPUTATION IN MATLAB FOR DETERMINING THE GEOMETRIC MODEL OF SERIAL ROBOTS

Ovidiu-Aurelian DETEŞAN, Florin BUGNAR

Abstract


The software module presented in this paper allows the modelling of the generalized mechanical structure of the robot and the automatic generation of the geometrical model equations of the considered robot, i.e. the position vector and the orientation matrix of the frame attached to the end-effector, with respect to the fixed frame {0}. As part of the generalized application Robot_symbolic, after Robot_definition, Robot_geometry is the second step to be taken in consideration when the modelling of a robotic structure is intended. The application is written in Matlab and it exploits its symbolic computation facilities.

Key words: serial robot, geometric modelling, symbolic computation


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References


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